updated FPS tests

isl-org · Nov 30, 2024 · 9f7627d · 9f7627d
1 parent cdc00cb
commit 9f7627d
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Showing 2 changed files with 15 additions and 7 deletions.
diff --git a/cpp/tests/geometry/PointCloud.cpp b/cpp/tests/geometry/PointCloud.cpp
@@ -876,14 +876,18 @@ TEST(PointCloud, FarthestPointDownSample) {
                               {1.0, 0, 1.0},
                               {0, 1.0, 1.0},
                               {1.0, 1.0, 1.5}});
-    std::vector<Eigen::Vector3d> expected = {
-            {0, 2.0, 0}, {1.0, 1.0, 0}, {1.0, 0, 1.0}, {0, 1.0, 1.0}};
     std::shared_ptr<geometry::PointCloud> pcd_down =
             pcd.FarthestPointDownSample(4);
+    std::vector<Eigen::Vector3d> expected = {
+            {0, 2.0, 0}, {1.0, 1.0, 0}, {1.0, 0, 1.0}, {0, 1.0, 1.0}};
+
     std::shared_ptr<geometry::PointCloud> pcd_down_2 =
-            pcd.FarthestPointDownSample(4, 0);
+            pcd.FarthestPointDownSample(4, 4);
+    std::vector<Eigen::Vector3d> expected_2 = {
+            {0, 2.0, 0}, {1.0, 1.0, 0}, {0, 0, 1.0}, {1.0, 1.0, 1.5}};
+
     ExpectEQ(pcd_down->points_, expected);
-    ExpectEQ(pcd_down_2->points_, expected);
+    ExpectEQ(pcd_down_2->points_, expected_2);
 }
 
 TEST(PointCloud, Crop_AxisAlignedBoundingBox) {

diff --git a/cpp/tests/t/geometry/PointCloud.cpp b/cpp/tests/t/geometry/PointCloud.cpp
@@ -955,12 +955,16 @@ TEST_P(PointCloudPermuteDevices, FarthestPointDownSample) {
                                        {1.0, 1.0, 1.5}},
                                       device));
 
+    auto pcd_small_down = pcd_small.FarthestPointDownSample(4);
     auto expected = core::Tensor::Init<float>(
             {{0, 2.0, 0}, {1.0, 1.0, 0}, {1.0, 0, 1.0}, {0, 1.0, 1.0}}, device);
-    auto pcd_small_down = pcd_small.FarthestPointDownSample(4);
-    auto pcd_small_down_2 = pcd_small.FarthestPointDownSample(4, 0);
+
+    auto pcd_small_down_2 = pcd_small.FarthestPointDownSample(4, 4);
+    auto expected_2 = core::Tensor::Init<float>(
+            {{0, 2.0, 0}, {1.0, 1.0, 0}, {0, 0, 1.0}, {1.0, 1.0, 1.5}}, device);
+
     EXPECT_TRUE(pcd_small_down.GetPointPositions().AllClose(expected));
-    EXPECT_TRUE(pcd_small_down_2.GetPointPositions().AllClose(expected));
+    EXPECT_TRUE(pcd_small_down_2.GetPointPositions().AllClose(expected_2));
 }
 
 TEST_P(PointCloudPermuteDevices, RemoveRadiusOutliers) {